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Most industrial robots nowadays still employ strategies that neglect or minimize the effects of task dynamics. Some tasks, however, are intrinsically dynamic and can only be accomplished by considering their dynamic aspects. We address ball catching as a prominent and widely studied example for such a task. The paper follows a special approach to accomplish the task: the nonprehensile catching, which...
This research presents the development of a multi-fingered robot hand for the application of massage. Massage is a helpful treatment for human body conditioning and therapy. This is a relative new and feasible application of multi-fingered robot hands except for the use as prosthesis and grasping applications. For the dexterous manipulation of the robot hand, impedance control is adopted. Impedance...
Force sensing is an essential requirement for dexterous robot manipulation. We describe composite robot end-effectors that incorporate optical fibers for accurate force sensing and estimation of contact locations. The design is inspired by the sensors in arthropod exoskeletons that allow them to detect contacts and loads on their limbs. In this paper, we present a fabrication process that allows us...
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